Decoupled teleoperation of a holonomic mobile-manipulator system using automatic switching

Mobile-manipulator systems (MMS) are extremely useful tools in teleoperation tasks. However, the current command strategy is strenuous and difficult and requires extensive training. A new command strategy is presented where control of the entire MMS is done using a single joystick. Rather than modeling the system as a redundant manipulator, control of the manipulator and mobile base is decoupled. In two separate states, the operator either controls the manipulator or the base. The system automatically switches between states based on the configuration of the manipulator. Testing is performed using the Omnibot MMS, a holonomic platform with a 3-DOF manipulator. The results showed that less time is required for completion of the tasks. In addition, the tasks are completed with greater accuracy and lower power consumption. Operators who used the system agreed the new command strategy was easier and more intuitive.